海底管道检测机器人智能控制器的研制  

Development of an intelligent controller for submarine pipeline inspection robot

作　　者：王忠巍[1] 曹其新[1] 栾楠[1] 张蕾[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《高技术通讯》2008年第2期142-146,共5页Chinese High Technology Letters

基　　金：863计划(2001AA602021)资助项目

摘　　要：设计了以嵌入式 PC104工控机为核心的海底管道检测机器人智能控制器,以嵌入式 Linux 操作系统作为该智能控制器的软件运行平台,根据控制任务的实时性和计算量的不同,开发的控制程序分别运行于系统实时内核和原 Linux 内核,满足了控制系统具有实时性、多任务并行处理等要求。详细介绍了管道检测机器人 CAN 通信应用层协议的定制规则,通过把报文的内容类别信息和节点信息纳入数据帧标识符来规定报文优先级,保证在多个数据帧同时竞争总线时,优先传送紧急程度高的报文。采用 RS232-CAN 协议转换器构建了具有检验智能控制器功能的试验平台,方便了控制程序的设计与验证。在实验室模拟油气管道台架上和工程现场的应用结果表明,该智能控制器实现了各种工况下的控制决策等功能,达到了设计要求,所设计的通信协议满足系统通讯要求。An intelligent controller, with an embedded PC104 industrial computer as its core, was developed for submarine pipeline inspection robots. Based on the embedded Linux system, its control program ran respectively in real-time kernel and Linux kernel according to the difference of control tusk＇s real-time request and calculation amount, which satisfied the control system＇ s real-time capability and multi-tasks parallel processing capability. Application layer protocol customization rule for pipeline robot＇s CAN communication was introduced in detail. CAN message content sort information and node information were set into message id to assure emergent message to be firstly transmitted under multi-message BUS competition. Constructed with RS232-CAN protocol converter, the intelligent controller testing platform facilitated the design and validation of control program. The applications in experimental pipeline system and project site indicated that the intelligent controller achieved control and decision-making functions under all sorts of situations and realized the design requirements. The communication protocol satisfied pipeline robot systems.

关 键 词：管道检测机器人 智能控制器 嵌入式LINUX CAN总线 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]